Motor control. All the motor control. I want literal lego blocks that convert me from position control to speed control to torque control, sensorless to posit

Motor control. All the motor control. I want literal lego blocks that convert me from position control to speed control to torque control, sensorless to position/velocity feedback, squirrelcage motor to induction motor to BLDC to brushed dc and any phylogeny in-between. Getting the mechanical engineers to produce a modular shaft, motor mounts, and modular payload mounting interface will come later. (Yes I'm aware of brackets, shaft couplings, pillow-blocks)